CN112570378B - Photovoltaic panel cleaning device based on light unmanned aerial vehicle and control method thereof - Google Patents

Photovoltaic panel cleaning device based on light unmanned aerial vehicle and control method thereof Download PDF

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Publication number
CN112570378B
CN112570378B CN202011340299.7A CN202011340299A CN112570378B CN 112570378 B CN112570378 B CN 112570378B CN 202011340299 A CN202011340299 A CN 202011340299A CN 112570378 B CN112570378 B CN 112570378B
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China
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photovoltaic panel
aerial vehicle
unmanned aerial
sliding assembly
support frame
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CN202011340299.7A
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CN112570378A (en
Inventor
佘沛亮
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Changde Zhongke Multi Source Power Integration Technology Research Institute
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Changde Zhongke Multi Source Power Integration Technology Research Institute
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/04—Cleaning by suction, with or without auxiliary action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Photovoltaic Devices (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention is suitable for the technical field of photovoltaic panel cleaning, and provides a photovoltaic panel cleaning device based on a light unmanned aerial vehicle and a control method thereof. The spraying assembly can set two modes of high-pressure fine water flow and spraying, and dirt on the photovoltaic panel can be washed clean by the spraying assembly. Before cleaning, the remote control camera can be used for manually checking to determine whether stains exist or not, and the stains are manually confirmed to avoid equipment misjudgment. The support frame is fixed on the photovoltaic panel by utilizing the right-angle S-shaped clamping arms on the support frame, so that the support frame is more firmly fixed.

Description

Photovoltaic panel cleaning device based on light unmanned aerial vehicle and control method thereof
Technical Field
The invention belongs to the technical field of photovoltaic panel cleaning, and particularly relates to a photovoltaic panel cleaning device based on a light unmanned aerial vehicle and a control method thereof.
Background
The cleaning technology of photovoltaic board develops very fast, from initial artifical rag washing, artifical high-pressure squirt washing to rack-mounted sprays equipment washing, vehicular professional equipment washing, has developed to present unmanned aerial vehicle and washs.
In the existing unmanned aerial vehicle cleaning technology, a gas nozzle device is adopted in a household solar photovoltaic panel unmanned aerial vehicle cleaning device with the application number of 201720012447.X to clean dirt of a photovoltaic panel; the patent 'photovoltaic panel detection and cleaning aerial robot system and photovoltaic panel cleaning method' with the application number of 201610157176.7 adopts an air injection method for dust removal, but the two air injection methods are easy to cause secondary pollution to adjacent photovoltaic panels and other objects.
The patent of 'unmanned aerial vehicle for cleaning stains on photovoltaic panel roofs', with application number of 201710344474.1, adopts a grinding mechanism to remove stains, and is easy to damage the surfaces of the photovoltaic panels; adopt automatic contrast module to judge clean effect, easily cause the erroneous judgement because of the photovoltaic board ageing degree is different, reduce work efficiency.
How to fix cleaning device is the key factor that influences cleaning effect in the cleaning process, and above-mentioned patent "solar photovoltaic board unmanned aerial vehicle cleaning device is used at family" with application number 201720012447.X adopts the sucking disc support frame to fix cleaning device easily because of photovoltaic flange frame unevenness, frame have filth etc. to lead to the sucking disc can't provide sufficient stationary force.
Disclosure of Invention
The invention provides a photovoltaic panel cleaning device based on a light unmanned aerial vehicle and a control method thereof, and aims to solve the technical problem.
The invention is realized like this, a photovoltaic board cleaning device based on light unmanned aerial vehicle, includes: the device comprises a light unmanned aerial vehicle provided with a camera, a support frame, a dust collection assembly, a spraying assembly, a cloth rotating cleaning assembly and a control platform;
the bottom of the light unmanned aerial vehicle is movably connected with the support frame, the support frame is a frame with the front surface in an isosceles triangle shape and the side surface and the bottom surface in a rectangular shape, a first cross beam and a second cross beam which are parallel to each other are arranged near the top end of the support frame, two ends of the first cross beam and the second cross beam are connected through another two cross beams to form a rectangular structure, a third cross beam which is parallel to the first cross beam is arranged on the central axis of the rectangular structure, first sliding assemblies are respectively arranged on four inclined rods of the support frame, the first sliding assemblies are rotatably connected with one end of a connecting rod, the other end of the connecting rod is rotatably connected with a right-angled S-shaped clamping arm, and one corner of the clamping arm is rotatably connected with the side frame of the bottom of the support frame;
the dust collection assembly comprises an exhaust fan, a hose, a dust filter bag and a suction nozzle, the exhaust fan is arranged inside the light unmanned aerial vehicle, the dust filter bag is communicated with the exhaust fan, the input end of the exhaust fan is communicated with the suction nozzle through the hose, the suction nozzle is of a long strip-shaped structure, the width of the suction nozzle is matched with that of a photovoltaic panel, a second sliding assembly is arranged along the length direction of the first beam, a first electric telescopic rod is arranged at the bottom of the second sliding assembly, and the movable end of the first electric telescopic rod is connected with the suction nozzle;
the cloth rotating and cleaning assembly comprises a small motor, a support and a cloth rotating roller, the small motor is arranged at one end of the support, an output shaft of the small motor is connected with a rotating shaft of the cloth rotating roller through a coupler, the top end of the support is connected with the movable end of a second electric telescopic rod, the other end of the second electric telescopic rod is connected with a third sliding assembly, and the third sliding assembly is arranged along the length direction of the second beam;
the water tank and the water pump are arranged inside the light unmanned aerial vehicle, the water tank is communicated with the spray head through the water pump and the guide pipe, the spray head is arranged on a fourth sliding assembly, and the fourth sliding assembly is arranged along the length direction of the third cross beam;
control platform includes remote controller and hand-held type display screen, the hand-held type display screen with the remote controller electricity is connected, remote controller and light unmanned aerial vehicle, air exhauster, small motor, water pump, first sliding component, second sliding component, third sliding component and fourth sliding component signal connection.
Further, first slip subassembly, second slip subassembly, third slip subassembly and fourth slip subassembly all include lead screw linear thrust step motor, guide rail, baffle and movable block, the guide rail is followed lead screw linear thrust step motor's the length direction of lead screw sets up, the baffle with the one end of lead screw is rotated and is connected, the movable block with lead screw threaded connection and with guide rail sliding connection, lead screw linear thrust step motor with remote controller signal connection.
Furthermore, the spray head is provided with a two-position three-way electromagnetic valve.
Furthermore, the cloth rotating roller is a rubber flannelette roller.
Furthermore, light-duty unmanned aerial vehicle is provided with can dismantle the power, can dismantle the power does light-duty unmanned aerial vehicle, air exhauster, small motor, water pump, first sliding component, second sliding component, third sliding component and fourth sliding component power supply.
Further, light unmanned aerial vehicle's fuselage with the support frame adopts the aluminum alloy material to make, light unmanned aerial vehicle's screw adopts the carbon fiber material to make, and is hollow structure.
The invention also provides a control method of the photovoltaic panel cleaning device based on the light unmanned aerial vehicle, which comprises the following steps:
the remote controller controls the light unmanned aerial vehicle to take off and hover, the support frame is mounted at the bottom of the light unmanned aerial vehicle, the light unmanned aerial vehicle flies above the photovoltaic panel, the support frame is placed on the photovoltaic panel, and the first sliding assembly pushes the clamping arm to rotate and clamp the photovoltaic panel so as to fix the support frame on the photovoltaic panel;
the second sliding assembly drives the suction nozzle to move to the position above one side of the photovoltaic panel along the length direction of the first cross beam, the first electric telescopic rod extends to enable the suction nozzle to be close to the photovoltaic panel, the exhaust fan and the second sliding assembly are started to enable the suction nozzle to move to the other side of the photovoltaic panel from one side of the photovoltaic panel to suck away floating dust at the height close to the photovoltaic panel, and the second sliding assembly drives the suction nozzle to move to one side of the photovoltaic panel;
the fourth sliding assembly drives the spray head to move to the position above one side of the photovoltaic panel along the length direction of the third beam, the water pump and the fourth sliding assembly are started, the water pump pumps water in the water tank to spray out, and the fourth sliding assembly moves the spray head from one side of the photovoltaic panel to the other side to clean the photovoltaic panel;
the third sliding assembly drives the cloth rotating roller to move to the position above one side of the photovoltaic panel along the length direction of the second cross beam, the second electric telescopic rod extends to enable the cloth rotating roller to be attached to the photovoltaic panel, and the small motor and the third sliding assembly are started to enable the cloth rotating roller to be attached to the photovoltaic panel to move to the other side of the photovoltaic panel from one side of the photovoltaic panel for cleaning;
the camera shoots photovoltaic panel surface image and transmits to hand-held type display screen, confirms by the manual work whether clean accomplishes.
According to the photovoltaic panel cleaning device based on the light unmanned aerial vehicle and the control method thereof, floating dust is sucked away by the dust suction assembly, and secondary pollution is avoided. The spraying assembly can set two modes of high-pressure fine water flow and spraying, and dirt on the photovoltaic panel can be washed clean by the spraying assembly. Before cleaning, the remote control camera can be used for manually checking to determine whether stains exist or not, and the stains are manually confirmed to avoid equipment misjudgment. The support frame is fixed on the photovoltaic panel by utilizing the right-angle S-shaped clamping arms on the support frame, so that the support frame is more firmly fixed.
Drawings
Fig. 1 is a schematic structural diagram of a photovoltaic panel cleaning device based on a light unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a support frame according to an embodiment of the present invention;
FIG. 3 is a schematic view of a clamping process of the right-angle S-shaped clamping arm provided by the embodiment of the invention;
fig. 4 is a schematic connection diagram of a control platform according to an embodiment of the present invention.
The reference numbers in the figures denote: 01-photovoltaic panel, 1-light unmanned plane, 2-camera, 3-exhaust fan, 4-water tank, 5-first sliding component, 6-movable block, 7-lead screw, 8-baffle, 9-connecting rod, 10-small motor, 11-cloth rotating roller, 12-suction nozzle, 13-bracket, 14-second electric telescopic rod, 15-third sliding component, 16-spray head, 17-conduit, 18-fourth sliding component, 19-hose, 20-first electric telescopic rod, 21-second sliding component, 22-lead screw linear thrust stepping motor, 23-diagonal rod, 24-clamping arm, 25-first beam, 26-second beam, 27-third beam, 28-bottom frame, 29-side frame, 30-remote controller, 31-hand-held display screen, 32-water pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 4, an embodiment of the present invention provides a photovoltaic panel cleaning device based on a light unmanned aerial vehicle, including: be provided with light-duty unmanned aerial vehicle 1, support frame, dust absorption subassembly, spraying subassembly of camera 2, revolve clean subassembly of cloth and control platform.
The fuselage that light-duty unmanned aerial vehicle 1 adopted adopts the aluminum alloy material to make, and the screw adopts the carbon fiber material to make, and is hollow structure, and the weight of unmanned aerial vehicle and support frame that can furthest's reduction prolongs the battery continuation of the journey. In addition, light-duty unmanned aerial vehicle 1's battery can adopt detachable power, and convenient the change shortens work interval, needn't wait for to charge. In addition, when the photovoltaic panel 01 with the height lower than 3 meters is cleaned, an off-board power supply can be adopted, namely, the photovoltaic panel works in an electricity plugging mode, and the working time is prolonged. When adopting the airborne power supply, can set up the work threshold value of power according to operating personnel and light unmanned aerial vehicle 1's distance, the distance is more far away, and the threshold value is higher, for example, the electric quantity is less than telling operating personnel to control platform send signal when 10%, then control platform send signal makes light unmanned aerial vehicle 1 fly back, and operating personnel changes the battery or charges to light unmanned aerial vehicle 1.
Light-duty unmanned aerial vehicle 1' S bottom swing joint support frame, the support frame is isosceles triangle for openly, side and bottom surface are the frame of rectangle, be close to the support frame top and be provided with first crossbeam and the second crossbeam that is parallel to each other, the both ends of first crossbeam and second crossbeam are connected through two other crossbeams and are constituted the rectangle structure, the axis of rectangle structure is provided with the third crossbeam that is on a parallel with first crossbeam, be provided with first slip subassembly 5 on four down tubes of support frame respectively, first slip subassembly 5 rotates the one end of connecting rod 9, the other end of connecting rod 9 rotates connects a right angle S-shaped arm lock, a turning of arm lock rotates with the bottom side frame 29 of support frame and is connected.
Light-duty unmanned aerial vehicle 1's bottom can be connected with the support frame through the activity buckle among the prior art, and convenient to detach maintains. The support frame adopts the aluminum alloy material to make, alleviates light-duty unmanned aerial vehicle 1's burden, is favorable to prolonging the continuation of the journey. The support frame is symmetrical structure, and the isosceles triangle structure of front and back two sides includes four down tube, and the size of support frame can be a bit bigger than photovoltaic board 01, the arrangement and the centre gripping of the arm lock of being convenient for.
The arm lock is right angle S shape structure, and when the arm lock was promoted by connecting rod 9, the arm lock was kept away from the one end inward movement who rotates connection frame and is contradicted or laminate photovoltaic board 01 reverse side, and the bottom frame of cooperation support frame can fix the support frame on photovoltaic board 01, compares in current sucking disc fixed mode, and the centre gripping is fixed more firm.
Dust collection assembly includes air exhauster 3, hose 19, dust filtration bag and suction nozzle 12, air exhauster 3 sets up inside light-duty unmanned aerial vehicle 1, dust filtration bag intercommunication air exhauster 3, hose 19 intercommunication suction nozzle 12 is passed through to air exhauster 3's input, suction nozzle 12 is rectangular shape structure, width and photovoltaic board 01's width phase-match, the length direction along first crossbeam is provided with second sliding assembly 21, second sliding assembly 21 bottom is provided with first electric telescopic handle 20, suction nozzle 12 is connected to first electric telescopic handle 20's expansion end.
The dust collection assembly is used for cleaning floating dust on the photovoltaic panel 01, sucking the floating dust on the photovoltaic panel 01 through the exhaust fan 3 and the suction nozzle 12, and collecting the floating dust by the dust filter bag.
It includes small motor 10, support 13 and revolves cloth cylinder 11 to revolve clean subassembly of cloth, and small motor 10 sets up the one end at support 13, and small motor 10's output shaft passes through the shaft coupling and revolves cloth cylinder 11's rotation axis connection, and the expansion end of 14 electric telescopic handle of second is connected on support 13's top, and third sliding component 15 is connected to the other end of 14 electric telescopic handle of second, and third sliding component 15 sets up along the length direction of second crossbeam.
The rotary cloth cleaning assembly is used for cleaning stains on the photovoltaic panel 01, the rotary cloth roller 11 can rotate to adopt a rubber flannelette roller, the cleaning effect is better, and the width of the rotary cloth roller 11 is matched with the width of the photovoltaic panel 01, so that the cleaning is more thorough.
The spraying subassembly includes water tank 4, pipe 17, water pump 32 and atomising head 16, and water tank 4 and water pump 32 set up inside light unmanned aerial vehicle 1, and water tank 4 passes through water pump 32 and pipe 17 intercommunication atomising head 16, and atomising head 16 sets up on fourth sliding assembly 18, and fourth sliding assembly 18 sets up along the length direction of third crossbeam.
The spraying assembly is used for washing or wetting the photovoltaic panel 01, the photovoltaic panel 01 can be conveniently cleaned by the rotary cloth roller 11, and the spraying head 16 is provided with a two-position three-way electromagnetic valve which can switch a high-pressure fine water flow spraying mode and a spraying wetting mode. The water tank 4 is filled with water or cleaning liquid, which can be selected according to the cleaning requirement.
Control platform includes remote controller 30 and hand-held type display screen 31, and hand-held type display screen 31 is connected with remote controller 30 electricity, and remote controller 30 and light unmanned aerial vehicle 1, air exhauster 3, small motor 10, water pump 32, first sliding component 5, second sliding component 21, third sliding component 15 and fourth sliding component 18 signal connection.
Control platform is used for controlling light unmanned aerial vehicle 1 to transport the support frame to the photovoltaic board 01 top, the fixed photovoltaic board 01 of support frame centre gripping of being convenient for. The exhaust fan 3, the small motor 10, the water pump 32, the first sliding assembly 5, the second sliding assembly 21, the third sliding assembly 15 and the fourth sliding assembly 18 are also controlled by the control platform, and the photovoltaic panel 01 can be cleaned by remotely controlling the components.
In addition, the remote controller 30 is also in signal connection with the spray head 16 provided with a two-position three-way electromagnetic valve, and controls the spray head 16 to switch the spray mode.
The first sliding assembly 5, the second sliding assembly 21, the third sliding assembly 15 and the fourth sliding assembly 18 all comprise a lead screw linear thrust stepping motor 22, a guide rail, a baffle 8 and a movable block 6, the guide rail is arranged along the length direction of a lead screw 7 of the lead screw linear thrust stepping motor 22, the baffle 8 is rotatably connected with one end of the lead screw 7, the movable block 6 is in threaded connection with the lead screw 7 and is in sliding connection with the guide rail, and the lead screw linear thrust stepping motor 22 is in signal connection with a remote controller 30.
The structure of the first sliding assembly 5, the structure of the second sliding assembly 21, the structure of the third sliding assembly 15 and the structure of the fourth sliding assembly 18 are the same, the guide rail, the baffle 8 and the lead screw linear thrust stepping motor 22 of the first sliding assembly 5 are fixed on the diagonal rod of the support frame, the guide rail, the baffle 8 and the lead screw linear thrust stepping motor 22 of the second sliding assembly 21 are fixed on the bottom surface of the first cross beam, the guide rail, the baffle 8 and the lead screw linear thrust stepping motor 22 of the third sliding assembly 15 are fixed on the bottom surface of the second cross beam, and the guide rail, the baffle 8 and the lead screw linear thrust stepping motor 22 of the fourth sliding assembly 18 are fixed on the bottom surface of the third cross beam.
The embodiment of the invention also provides a control method of the photovoltaic panel cleaning device based on the light unmanned aerial vehicle, which comprises the following steps:
remote controller 30 control light unmanned aerial vehicle 1 takes off and hovers, with the support frame carry in 1 bottom of light unmanned aerial vehicle, light unmanned aerial vehicle 1 flies to photovoltaic board 01 top, places the support frame on photovoltaic board 01, and first sliding component 5 promotes the arm lock and rotates centre gripping photovoltaic board 01 and fix the support frame on photovoltaic board 01.
Before the clearance, can observe the photovoltaic board 01 through camera 2 on the light unmanned aerial vehicle 1 earlier whether have more serious stain on the surface, can be to the important clearance in position that has the stain.
The second sliding assembly 21 drives the suction nozzle 12 to move to the position above one side of the photovoltaic panel 01 along the length direction of the first beam, the first electric telescopic rod 20 extends to enable the suction nozzle 12 to be close to the photovoltaic panel 01, the exhaust fan 3 and the second sliding assembly 21 are started to enable the suction nozzle 12 to move from one side of the photovoltaic panel 01 to the other side to suck away floating dust at the height of the photovoltaic panel 01 close to the photovoltaic panel 01, and the second sliding assembly 21 drives the suction nozzle 12 to move to one side of the photovoltaic panel 01.
The fourth sliding assembly 18 drives the spray head 16 to move to the upper side of one side of the photovoltaic panel 01 along the length direction of the third beam, the water pump 32 and the fourth sliding assembly 18 are started, the water pump 32 pumps water in the water tank 4 to spray, and the fourth sliding assembly 18 moves the spray head 16 to the other side from one side of the photovoltaic panel 01 to clean the photovoltaic panel 01.
For photovoltaic panel 01 with stains, spray head 16 may be set to a high pressure fine water jet mode to wash the stains until loosened. After the stain cleaning is completed, the spray head 16 is switched to the spray mode, and water or a cleaning liquid is sprayed on the photovoltaic panel 01.
The third sliding assembly 15 drives the cloth rotating roller 11 to move to the upper side of one side of the photovoltaic panel 01 along the length direction of the second cross beam, the second electric telescopic rod 14 extends to enable the cloth rotating roller 11 to be attached to the photovoltaic panel 01, and the small-sized motor 10 and the third sliding assembly 15 are started to enable the cloth rotating roller 11 to be attached to the photovoltaic panel 01 and move to the other side of the photovoltaic panel 01 from one side of the photovoltaic panel 01 to be cleaned.
Cloth cylinder 11 and the laminating of photovoltaic board 01 soon, the extension length through control second electric telescopic handle 14 makes cloth cylinder 11 closely laminate soon, makes the clearance effect better, still can produce at the in-process that cloth cylinder 11 removed soon simultaneously and pull the effect, promotes the clearance dynamics, ensures that the dirty spot on photovoltaic board 01 surface or the floating dust of not having siphoned away are adsorbed and break away from yet.
The second sliding assembly 21 drives the dust collection assembly to clean floating dust on the photovoltaic panel 01, the floating dust is moved to one side opposite to the starting point after being cleaned, the path is made for the rotary cloth cleaning assembly, the second sliding assembly 21 can be driven to drive the dust collection assembly to return to the starting point after the rotary cloth cleaning assembly is cleaned, and meanwhile residual water on the photovoltaic panel 01 is sucked away in the moving process.
The camera 2 shoots the surface image of the photovoltaic panel 01 and transmits the surface image to the handheld display screen 31, and whether cleaning is finished or not is confirmed manually.
After the clearance is accomplished in artifical affirmation, control first sliding subassembly 5 and return the starting point, make the arm lock break away from photovoltaic board 01, light-duty unmanned aerial vehicle 1 carries on support frame to next photovoltaic board 01 that needs the clearance.
Particularly, an image contrast module can be arranged, before the photovoltaic panel 01 is cleaned, the camera 2 on the light unmanned aerial vehicle 1 shoots the surface image of the photovoltaic panel 01 and transmits the surface image to the control platform, after the cleaning is finished, an image is shot and transmitted to the control platform, the image contrast module judges whether the cleaning is finished according to a preset algorithm, and the preset algorithm, such as the brightness change of the image caused by the degree of the light reflected by the photovoltaic panel 01 in the image, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. The utility model provides a photovoltaic board cleaning device based on light-duty unmanned aerial vehicle which characterized in that includes: the device comprises a light unmanned aerial vehicle provided with a camera, a support frame, a dust collection assembly, a spraying assembly, a cloth rotating cleaning assembly and a control platform;
the bottom of the light unmanned aerial vehicle is movably connected with the support frame, the support frame is a frame with the front surface in an isosceles triangle shape and the side surface and the bottom surface in a rectangular shape, a first cross beam and a second cross beam which are parallel to each other are arranged near the top end of the support frame, two ends of the first cross beam and the second cross beam are connected through another two cross beams to form a rectangular structure, a third cross beam which is parallel to the first cross beam is arranged on the central axis of the rectangular structure, first sliding assemblies are respectively arranged on four inclined rods of the support frame, the first sliding assemblies are rotatably connected with one end of a connecting rod, the other end of the connecting rod is rotatably connected with a right-angled S-shaped clamping arm, and one corner of the clamping arm is rotatably connected with the side frame of the bottom of the support frame;
the dust collection assembly comprises an exhaust fan, a hose, a dust filter bag and a suction nozzle, the exhaust fan is arranged inside the light unmanned aerial vehicle, the dust filter bag is communicated with the exhaust fan, the input end of the exhaust fan is communicated with the suction nozzle through the hose, the suction nozzle is of a long strip-shaped structure, the width of the suction nozzle is matched with that of a photovoltaic panel, a second sliding assembly is arranged along the length direction of the first beam, a first electric telescopic rod is arranged at the bottom of the second sliding assembly, and the movable end of the first electric telescopic rod is connected with the suction nozzle;
the cloth rotating and cleaning assembly comprises a small motor, a support and a cloth rotating roller, the small motor is arranged at one end of the support, an output shaft of the small motor is connected with a rotating shaft of the cloth rotating roller through a coupler, the top end of the support is connected with the movable end of a second electric telescopic rod, the other end of the second electric telescopic rod is connected with a third sliding assembly, and the third sliding assembly is arranged along the length direction of the second beam;
the water tank and the water pump are arranged inside the light unmanned aerial vehicle, the water tank is communicated with the spray head through the water pump and the guide pipe, the spray head is arranged on a fourth sliding assembly, and the fourth sliding assembly is arranged along the length direction of the third cross beam;
control platform includes remote controller and hand-held type display screen, the hand-held type display screen with the remote controller electricity is connected, remote controller and light unmanned aerial vehicle, air exhauster, small motor, water pump, first sliding component, second sliding component, third sliding component and fourth sliding component signal connection.
2. The photovoltaic panel cleaning device based on the light unmanned aerial vehicle as claimed in claim 1, wherein the first sliding assembly, the second sliding assembly, the third sliding assembly and the fourth sliding assembly each comprise a lead screw linear thrust stepping motor, a guide rail, a baffle and a movable block, the guide rail is arranged along the length direction of a lead screw of the lead screw linear thrust stepping motor, the baffle is rotatably connected with one end of the lead screw, the movable block is in threaded connection with the lead screw and is in sliding connection with the guide rail, and the lead screw linear thrust stepping motor is in signal connection with the remote controller.
3. The photovoltaic panel cleaning apparatus based on light unmanned aerial vehicle as claimed in claim 1, wherein the spray head is provided with a two-position three-way solenoid valve.
4. The photovoltaic panel cleaning apparatus based on light unmanned aerial vehicle of claim 1, wherein the cloth rotating cylinder is a rubber flannel cylinder.
5. The photovoltaic panel cleaning apparatus based on a light unmanned aerial vehicle of claim 1, wherein the light unmanned aerial vehicle is provided with a detachable power supply that supplies power to the light unmanned aerial vehicle, an exhaust fan, a small motor, a water pump, a first sliding assembly, a second sliding assembly, a third sliding assembly, and a fourth sliding assembly.
6. The photovoltaic panel cleaning device based on the light unmanned aerial vehicle as claimed in claim 1, wherein the body of the light unmanned aerial vehicle and the support frame are made of aluminum alloy, and the propeller of the light unmanned aerial vehicle is made of carbon fiber and has a hollow structure.
7. A control method of a photovoltaic panel cleaning apparatus based on a light unmanned aerial vehicle according to any one of claims 1 to 6, characterized by comprising the steps of:
the remote controller controls the light unmanned aerial vehicle to take off and hover, the support frame is mounted at the bottom of the light unmanned aerial vehicle, the light unmanned aerial vehicle flies above the photovoltaic panel, the support frame is placed on the photovoltaic panel, and the first sliding assembly pushes the clamping arm to rotate and clamp the photovoltaic panel so as to fix the support frame on the photovoltaic panel;
the second sliding assembly drives the suction nozzle to move to the position above one side of the photovoltaic panel along the length direction of the first cross beam, the first electric telescopic rod extends to enable the suction nozzle to be close to the photovoltaic panel, the exhaust fan and the second sliding assembly are started to enable the suction nozzle to move to the other side of the photovoltaic panel from one side of the photovoltaic panel to suck away floating dust at the height close to the photovoltaic panel, and the second sliding assembly drives the suction nozzle to move to one side of the photovoltaic panel;
the fourth sliding assembly drives the spray head to move to the position above one side of the photovoltaic panel along the length direction of the third beam, the water pump and the fourth sliding assembly are started, the water pump pumps water in the water tank to spray out, and the fourth sliding assembly moves the spray head from one side of the photovoltaic panel to the other side to clean the photovoltaic panel;
the third sliding assembly drives the cloth rotating roller to move to the position above one side of the photovoltaic panel along the length direction of the second cross beam, the second electric telescopic rod extends to enable the cloth rotating roller to be attached to the photovoltaic panel, and the small motor and the third sliding assembly are started to enable the cloth rotating roller to be attached to the photovoltaic panel to move to the other side of the photovoltaic panel from one side of the photovoltaic panel for cleaning;
the camera shoots photovoltaic panel surface image and transmits to hand-held type display screen, confirms by the manual work whether clean accomplishes.
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CN117086052B (en) * 2023-06-27 2024-03-15 山东启迪环能科技有限公司 Intelligent unmanned aerial vehicle cleaning robot for photovoltaic power station

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